Two set of AGV lineage vehicles based on Mitsubishi controller are developed for the re-quirements of lfexible assembly line about a certain type of aircraft. AGV linkage mechanical structure, control system framework, hardware, software modules and PC interface module are designed and analyzed in detail. AGV linkage carries on installation, combined adjusting and the field application. The results show that the AGV linkage control system realizes linear side, central rotation, and pigeon walking control of single vehicle and two vehicles linkage synergy, which satisfies the requirements of flexible as-sembly line to AGV various action.%针对某型号飞机柔性装配生产线需求，研制了两台基于三菱控制器联动AGV运输车。详细分析和设计了联动AGV机械结构、控制系统总体框架、硬件和软件模块及上位机界面模块。联动AGV经过了安装、联调和现场应用验证，结果表明联动AGV控制系统实现了单车直线侧移、中心旋转及八字行走控制和两车联动协同直线侧移、中心旋转及八字行走控制，满足了柔性装配生产线对AGV各种动作的需求。
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